On the workspace of telescopic manipulators

Robotica

Volumn 16, Issue 6, 1998, Pages 691-696

  Ceccarelli, Marco ^a  

^a UNIVERSITY OF CASSINO AND SOUTHERN LAZIO   (Italy)

Author keywords

Telescopic manipulators; Theory of envelopes; Workspace

Indexed keywords

ALGEBRA; ALGORITHMS; GEOMETRY; KINEMATICS; TOPOLOGY;

TELESCOPIC MANIPULATORS; WORKSPACE;

MANIPULATORS;

EID: 0032203094     PISSN: 02635747     EISSN: None     Source Type: Journal    
DOI: 10.1017/S0263574798000460     Document Type: Article

References (19)

1. T.W. Lee and D.C.H. Yang, "On the evaluation of Manipulator Workspace", ASME J. of Mechanisms, Transmissions and Automation in Design 105, 70-77 (1983).
2. J.A. Hansen, KC Gupta and S.M.K. Kazerounian, "Generation and Evaluation of the Workspace of a Manipulator", Int. J. Robotics Research 2, 22-31 (1983).
3. A. Kumar and M.S. Patel, "Mapping the Manipulator Workspace Using Interactive Computer Graphics", Int. J Robotics Research 5, 122-130 (1986).
4. M. Cwiakala and T.W. Lee, "Generation and Evaluation of a Manipulator Workspace Based on Optimum Path Search", ASME J. of Mechanisms, Transmissions and Automation in Design 107, 245-255 (1985).
5. J. Rastegar and D. Perel, "Generation of Manipulator Workspace Boundary Geometry Using the Monte Carlo Method and Interactive Computer Graphics", ASME J. of Mechanical Design 112, 452-454 (1991).
6. D.Y. Jo and E.J. Haug, "Workspace Analysis of Multibody Mechanical Systems Using Continuation Methods", ASME J. of Mechanisms, Transmissions and Automation in Design 111, 581-589 (1989).
7. A. Kumar and K.J. Waldrom, "The Workspace of a Mechanical Manipulator", ASME J, of Mechanical Design 103, 665-672 (1981).
8. Y.C. Tsai and A.H. Soni, "An Algorithm for the Workspace on a General U-R Robot", ASME J. of Mechanisms, Transmissions and Automation in Design 105, 52-57 (1983).
9. D. Oblak and D. Kohli, "Boundary Surfaces, Limit Surfaces, Crossable and Non-Crossable Surfaces in Workspace of Mechanical Manipulators", ASME J. of Mechanisms, Transmissions and Automation in Design 110, 389-396 (1988).
10. D. Kohli and J. Spanos, "Workspace Analysis of Mechanical Manipulators Using Polynomial Discriminants", ASME J. of Mechanisms, Transmissions and Automation in Design, 107, 209-215 (1985).
11. F. Ranjbaran, J. Angeles and R. V. Patel, "The Determination of the Cartesian Workspace of General Three-Axis Manipulators", Proceedings of 3rd Int. Workshop on Advances in Robot Kinematics (Ferrara, 1992), pp. 218-325.
12. F. Freudenstein and E.J.F. Primrose, "On the Analysis and Synthesis of the Workspace of a Three-Link Turning-Pair Connectd Robot Arm", ASME J. of Mechanisms, Transmissions and Automation in Design 106, 365-370 (1984).
13. Y.C. Tsai and A.H. Soni, "The effect of Link Parameter on the Working Space of General 3R Robot Arms", IFToMM J. Mechanism and Machine Theory 19, 9-16 (1984).
14. P.E. Riley and L.E. Torfason, "Workspace Characteristics, Cusp Locations, and Boundary Crossing for General RRP Regional Structures of Manipulators", Proceedings of the 23rd Biennial Mechanisms Conference DE-72, 147-152 (1994).
15. M. Ceccarelli, "A Formulation for the Workspace Boundary of General N-Revolute Manipulators", IFToMM Journal Mechanism and Machine Theory 31, 637-646 (1996).
16. M. Ceccarelli, "On the Workspace of 3R Robot Arms", Proceedings of the Fifth International IFToMM Symposium on Theory and Practice of Mechanisms, Bucharest, Vol. II-1 (1989) pp. 37-46.
17. M. Ceccarelli and A. Vinciguerra, "On the Workspace of General 4R Manipulators", Int. J. Robotics Research 14, 152-160 (1995).
18. E.F. Fichter and K.H. Hunt, "The Fecund Torus, its Bitangent-Circles and Derived Linkages", IFToMM Journal Mechanism and Machine Theory 10, 167-176 (1975).
19. B. Roth, "Analytical Design of Two-Revolute Open Chains", Preprints of 6th CISM-IFToMM Symposium on Theory and Practice of Robots and Manipulators (Cracow. 1986), pp. 180-187.